# Gamepad SolversLib provides enhanced Gamepad features. These classes are essentially extensions of the stock FTC SDK Gamepad features but with easier implementation methods. ## GamepadKeys Provides enum representations of the buttons, D-Pad, bumpers, and triggers. Buttons, D-Pad, and bumpers are stored in `GamepadKeys.Button` and triggers are stored in `GamepadKeys.Trigger`. SolversLib has updated support for PS4 / PS5 controllers as well. | Buttons | | -------------------- | | Y | | X | | A | | B | | TRIANGLE | | CIRCLE | | SQUARE | | CROSS | | LEFT\_BUMPER | | RIGHT\_BUMPER | | BACK | | START | | DPAD\_UP | | DPAD\_DOWN | | DPAD\_LEFT | | DPAD\_RIGHT | | LEFT\_STICK\_BUTTON | | RIGHT\_STICK\_BUTTON | | PS | | SHARE | | TOUCHPAD | | TOUCHPAD\_FINGER\_1 | | TOUCHPAD\_FINGER\_1 | | Trigger | | -------------- | | LEFT\_TRIGGER | | RIGHT\_TRIGGER | ```java // these are from the GamepadButton class that is used // for command-based frameworks GamepadButton grabButton = new GamepadButton( gamepad1, GamepadKeys.Button.A ); GamepadButton releaseButton = new GamepadButton( gamepad2, GamepadKeys.Button.B ); GamepadEx gamepadEx = new GamepadEx(gamepad1); ``` ## GamepadEx An extension of the stock FTC SDK `Gamepad` class. Constructed simply from a Gamepad. Provides six intuitive value-getting methods: * `getButton()`: Given a `GamepadKeys.Button`, this method will check if that Button is pressed, returning a boolean of whether that Button is pressed. ```java gamepadEx.getButton(GamepadKeys.Button.A); ``` * `getTrigger()`: Given a `GamepadKeys.Trigger`, this method will return the value of the Trigger (0 if unpressed, 1 if fully depressed). ```java gamepadEx.getTrigger(GamepadKeys.Trigger.RIGHT_TRIGGER); ``` * `getLeftY()`: Returns the value of the y-axis of the left joystick (note that the value returned is the opposite of what would be returned from the standard gamepad object). ```java gamepadEx.getLeftY(); ``` * `getRightY()`: Returns the value of the y-axis of the right joystick ```java gamepadEx.getRightY(); ``` * `getLeftX()`: Returns the value of the x-axis of the left joystick ```java gamepadEx.getLeftX(); ``` * `getRightX()`: Returns the value of the x-axis of the right joystick ```java gamepadEx.getRightX(); ``` ## KeyReader The `KeyReader` interface is the base for objects that monitor an individual button or trigger on a gamepad. All `Reader` classes must implement these functions: * `readValue()`: Reads the current value of the key, true or false, and updates the values used by the reader. Returns nothing. This must be called once every loop. * `isDown()` : Checks if key is currently down. Will return a boolean of whether that key is pressed. * `wasJustPressed()` : Returns boolean whether the key is pressed, but only if it was previously not pressed. * `wasJustReleased()` : Returns boolean indicating whether the key is not pressed, but only if it was previously pressed. * `stateJustChanged` : Returns boolean indicating that the key's value has switched. ## TriggerReader The `TriggerReader` class implements the `KeyReader` interface. Because `GamepadEx` Triggers return a `double` , the `TriggerReader` class interprets a value of greater than `0.5` as a trigger press. The following constructs a new Trigger Reader with a `GamepadEx` gamepad and `GamepadKeys.Trigger` trigger. ```java TriggerReader triggerReader = new TriggerReader( gamepadEx, GamepadKeys.Trigger.RIGHT_TRIGGER ); ``` Below are the different methods you can use with the trigger reader. ```java triggerReader.isDown(); triggerReader.readValue(); triggerReader.stateJustChanged(); triggerReader.wasJustPressed(); triggerReader.wasJustReleased(); ``` ## ButtonReader The `ButtonReader`class implements the `KeyReader` interface. It checks if a button is pressed, released, or is down. ```java ButtonReader reader = new ButtonReader( gamepadEx, GamepadKeys.Button.A ); ``` * `ButtonReader(GamepadEx gamepad, GamepadKeys.Button button)`: Constructs a new Button Reader with a `GamepadEx` gamepad and a `GamepadKeys.Button` button. * `ButtonReader(BooleanSupplier supplier)`: Constructs a new Button Reader using the value of a boolean supplier instead of a gamepad, which allows reading value states easily without a gamepad. ```java reader.readValue(); reader.wasJustPressed(); reader.stateJustChanged(); reader.isDown(); reader.wasJustReleased(); ``` The `GamepadEx` objects actually contain `ButtonReader`s. For every `GamepadKeys.Button`, there is a matching `ButtonReader` entry in the map. It is stored internally as a `Map`. This allows you to use these features just with the `GamepadEx` class. ```java // create the gamepad GamepadEx myGamepad = new Gamepad(gamepad1); /** The methods for using the ButtonReaders **/ myGamepad.wasJustPressed(GamepadKeys.Button.A); myGamepad.stateJustChanged(GamepadKeys.Button.A); myGamepad.isDown(GamepadKeys.Button.A); myGamepad.wasJustReleased(GamepadKeys.Button.A); // pass the GamepadKeys.Button that you want to read // into the method argument // to read all buttons at once, perform a single call myGamepad.readButtons(); /* this is the equivalent of calling readValue() once for all your readers */ ``` ## ToggleButtonReader ```java ToggleButtonReader toggleButtonReader = new ToggleButtonReader( gamepadEx, GamepadKeys.Button.A ); ``` The `ToggleButtonReader` class extends `ButtonReader` and adds the ability to get the status of a toggle. `readValue()` needs to be run in a loop to get the state of the toggle. `getState()` : Gets the toggle value of a button or boolean supplier. ```java toggleButtonReader.getState(); ``` ### Usage ```java GamepadEx toolOp = new GamepadEx(gamepad2); ToggleButtonReader aReader = new ToggleButtonReader( toolOp, GamepadKeys.Button.A ); while (...) { if (aReader.getState()) { // if toggle state true } else { // if toggle state false } aReader.readValue(); } ``` --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. 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